From aa6f20d98b5d8e18ae56f9562a78d403a5417b48 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 一月 2025 16:32:28 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java | 92 +++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 86 insertions(+), 6 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
index 3100ec2..0c39768 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/DemoController.java
@@ -19,8 +19,10 @@
import org.springframework.jdbc.core.JdbcTemplate;
import org.springframework.web.bind.annotation.*;
+import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
+import java.util.stream.Collectors;
/**
* Created by vincent on 11/15/2024
@@ -67,6 +69,52 @@
return R.ok("RCS-FLOW-1.0.0");
}
+ // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
+ // {"msg":"Success","code":200,"data":[[38,2],[38,3],[38,4],[38,5],[38,6],[37,6],[36,6],[35,6],[34,6],[33,6],[32,6],[31,6],[30,6],[29,6],[28,6],[27,6],[26,6],[25,6]]}
+ @RequestMapping(value = "/system/demo", method = {RequestMethod.GET, RequestMethod.POST})
+ public R demo() {
+ long startTime = System.currentTimeMillis();
+ for (int i = 0; i < 1000; i++) {
+ this.demo1();
+ }
+ System.out.println(System.currentTimeMillis() - startTime);
+ return R.ok();
+ }
+
+ private R demo1() {
+ List<String> path = new ArrayList<>();
+ path.add("00000035");
+ path.add("00000085");
+ path.add("00000135");
+ path.add("00000185");
+ path.add("00000235");
+ path.add("00000234");
+ path.add("00000233");
+ path.add("00000232");
+ path.add("00000231");
+ path.add("00000230");
+ path.add("00000229");
+ path.add("00000228");
+ path.add("00000227");
+ path.add("00000226");
+ path.add("00000225");
+ path.add("00000224");
+ path.add("00000223");
+ path.add("00000222");
+
+// List<int[]> codeMatrixIdxList = new ArrayList<>();
+// for (String pathStr : path) {
+// int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, pathStr);
+// codeMatrixIdxList.add(codeMatrixIdx);
+// }
+
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(null, path);
+
+// System.out.println(codeMatrixIdxList.toString());
+
+ return R.ok().add(codeMatrixIdxList);
+ }
+
// @RequestMapping(value = "/system/route/generate", method = {RequestMethod.GET, RequestMethod.POST})
// public R generate() {
// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
@@ -105,25 +153,25 @@
avoidWaveCalculator.calcDynamicNodeWhenBoot();
// AgvDetail agvDetail11 = agvDetailService.selectByAgvNo("11");
-// agvDetail11.setCode(codeService.selectByData("00000251").getId());
+// agvDetail11.setCode(codeService.getCacheByData("00000251").getId());
// agvDetailService.updateById(agvDetail11);
//
// AgvDetail agvDetail12 = agvDetailService.selectByAgvNo("12");
-// agvDetail12.setCode(codeService.selectByData("00000204").getId());
+// agvDetail12.setCode(codeService.getCacheByData("00000204").getId());
// agvDetailService.updateById(agvDetail12);
//
// AgvDetail agvDetail14 = agvDetailService.selectByAgvNo("14");
-// agvDetail14.setCode(codeService.selectByData("00000101").getId());
+// agvDetail14.setCode(codeService.getCacheByData("00000101").getId());
// agvDetailService.updateById(agvDetail14);
//
// avoidWaveCalculator.calcDynamicNodeWhenBoot();
//
// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail14.getAgvId()), TaskTypeType.MOVE,
-// codeService.selectByData("00000303").getData(), null);
+// codeService.getCacheByData("00000303").getData(), null);
// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail11.getAgvId()), TaskTypeType.MOVE,
-// codeService.selectByData("00000411").getData(), null);
+// codeService.getCacheByData("00000411").getData(), null);
// mainLockWrapService.buildMinorTask(agvService.getById(agvDetail12.getAgvId()), TaskTypeType.MOVE,
-// codeService.selectByData("00000403").getData(), null);
+// codeService.getCacheByData("00000403").getData(), null);
return R.ok();
}
@@ -132,6 +180,18 @@
@GetMapping("/auto/go/patrol")
public R autoGoPatrol(@RequestParam(required = false, defaultValue = "5") Integer count) {
List<Agv> list = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
+
+ // stop
+ if (count == 0) {
+ for (String agvNo : list.stream().map(Agv::getUuid).collect(Collectors.toList())) {
+ if (patrolService.isPatrolling(agvNo)) {
+ patrolService.shutdownPatrol(agvNo);
+ }
+ }
+ return R.ok();
+ }
+
+ // start
Collections.shuffle(list);
List<Agv> agvs = list.subList(0, count);
int result = 0;
@@ -141,4 +201,24 @@
}
return R.ok().add(result);
}
+
+
+ @Autowired
+ private MapService mapService;
+ @Autowired
+ private SegmentService segmentService;
+
+ @GetMapping("/astarDemo") // astar spend time: 3866, count:3855
+ public R astarDemo() {
+ long startTime = System.currentTimeMillis();
+ List<String> path = mapService.checkoutPath("18"
+ , codeService.getCacheByData("00001318")
+ , codeService.getCacheByData("00003447")
+ , true
+ , new ArrayList<>()
+ , segmentService.getById(1390));
+ System.out.println("demo spend time: " + (System.currentTimeMillis() - startTime));
+ return R.ok().add(path);
+ }
+
}
--
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